Towards a factored analysis of legged locomotion models Export

@inproceedings{citeulike:230968, abstract = {In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factozation of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression despite the non-integrability of the SLIP dynamics. We outline the application of this analysis to other models of legged locomotion and its importance for the stability of legged robots and animals.}, address = {Taipei, Taiwan}, author = {Altendorfer, Richard and Koditschek, Daniel E. and Holmes, Philip}, booktitle = {Proceedings of the 2003 IEEE International Conference on Robotics \& Automation}, citeulike-article-id = {230968}, day = {14-19}, keywords = {legged\_robots}, month = {September}, pages = {37--44}, posted-at = {2005-06-17 22:31:55}, priority = {0}, publisher = {IEEE}, title = {Towards a factored analysis of legged locomotion models}, year = {2003} }

TY - CONF ID - citeulike:230968 L3 - citeulike-article-id:230968 N2 - In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factozation of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression despite the non-integrability of the SLIP dynamics. We outline the application of this analysis to other models of legged locomotion and its importance for the stability of legged robots and animals. AD - Taipei, Taiwan EP - 44 TI - Towards a factored analysis of legged locomotion models PB - IEEE T2 - Proceedings of the 2003 IEEE International Conference on Robotics & Automation SP - 37 KW - legged_robots AU - Altendorfer, Richard AU - Koditschek, Daniel AU - Holmes, Philip PY - 2003/09/14-19/ ER -